Automatic copying machine with anticipator control



Sept. 23, 1958 T. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17, 1951 15 Sheets-Sheet 1 zip/W 3% BY U j/l/orngy Sept. 23, 1958 T. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17 1951 15 Sheets-Sheet 2 P 3, 1958 T. A. WETZEL 2,853,626

AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 1'7, 1951 15 Sheets-Sheet 3 Q &

INVENTOR. fiea/rp 4736/ Q BY Sept. 23, 1958 T. A. WETZEL 2,853,626

AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL I Filed Sept. 17. 1951 15 Sheets-Sheet 4 F 6 E 23 45 65 g f m k\ s Y a 1 1/ i 3a 74 577 IN V EN TOR.

AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17 1951 Sept. 23, 1958 T. A. WETZEL l5 Sheets-Sheet 5 Sept. 23, 1958 AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 1'7, 1951 T. A. WETZEL 15 Sheets-Sheet 6 IN VEN TOR.

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Sept. 23, 1958 T. A. WETZEL 2,853,626

AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17, 1951 15 Sheets-Sheet 7 1N VEN TOR.

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yfllornez Sept. 23, 1958 T. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17. 1951 15 Sheets-Sheet 8 INVENTOR. i el fleaabri 2 Ala filer/76y Sept. 23, 1958 1'. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL iled Sept. 17, 1951 Sep 1958' T. A. wETzEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17, 1951 I 15 Sheets-Sheet 1O fig'g. 24

INVENTOR. joa ore 7% @g/ BY Sept. 23, 1958 T. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17, 1951 15 Sheets-Sheet 12 e m !M w m r w 3 M 7 5 5 6 a 55 f a, 3 Z Q W/QWZ W 7 K 7/38 flaw are INVENTOR. j? [Weve/ Sept, 23, 1958 T. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17, 3.951

15 Sheets-Shet 13 &

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fi/Xazwey Sept. 23, 1958 T. A. WETZEL AUTOMATIC COPYING MACHINE WITH ANTICIPATOR CONTROL Filed Sept. 17 1951 15 Sheets-Sheet 14 354 N A m INVENTOR.

jliarwe 3 5 1958 A. WETZEL Z53fi AUTOMATIC COPYING MACHINE WITH AN'IICIPATOR CONTROL Filari Sept 17,, 15351 1,5 Sheets-Sheet 15 United States Patent AUTOMATIC QOPYING MACHINE WITH ANTICIPATOR CONTROL Theodore A. Wetzel, Milwaukee, Wis., assignor to Kearney & Trecker Corporation, West Allis, Wis., a corporation of Wisconsin Application September 17, 1951, Serial No. 246,980

30 Claims. (Cl. 250-202) This invention relates, generally, to improvements in copying machines and more particularly to improved line tracker control systems adapted to follow the representation of a guiding contour as well as to anticipate directional changes in the path of movement dictated by the guiding contour.

In some prior types of copying or tracing machines, there has been provided a control system responsive to the peripheral contour of a guiding pattern, and, operative to effect corresponding relative movement between a tool support and work support. The control system was provided with a sensing device arranged to supply input signals that subsequently activated a source of power connected to effect corresponding motivation for the required relative movement between the tool support and work support, as well as a corresponding movement between the sensing device and the guiding contour. By means of this arrangement, the sensing device was responsive to successively new portions of the guiding contour which was continuously displaced along a path of travel corresponding to its configuration. In some cases the sensing device constituted a stylus having actual physical contact with the peripheral edge of a guiding pattern to effect the required relative movement therebetween. In other cases, such as line tracker controlled machines, the sensing device was moved into intercepting or overlapping relationship with the pattern edge to effect the required relative movement therebetween. For some types of copying operations, more especially at the lower feeding rates, one or the other of these sensing devices with its cooperating control system was adequate to control the relative movement of the machine elements. In traversing a directional change in the path of travel, however, there usually occurred a slight overtravel in the original direction of movement before the sensing device and control system responded to-the new path of travel to effect the necessary corrective movements. This overtravel occurred even at very slow feeding rates, resulting in an inaccuracy in the finished work caused by undercutting the contour being generated. As the feeding rates were increased, the condition became even more aggravated and the undercutting was correspondingly more severe. At extremely high feeding rates, the overtravel became so excessive that the resultant undercutting caused irreparable damage to the work. Among the several factors contributing to this condition, the principal one is the time lag occurring between the initiation of an input signal to move and the actual motivation for movement effected by that particular signal, which is an inherent characteristic of prior types of control systems for copying machines.

A general object of the invention is to provide a control system for a copying machine that is operative to control machine movements for generating a contour in work, corresponding to the representation of a contour, and without damaging the work when traversing a directional change in the path of travel.

Another object of the invention is to provide a direction anticipating line tracker control system for a copying machine.

Another object of the present invention is to provide an improved line tracker control system that is adapted to automatically follow the representation of a contour throughout a full 360", as Well as to anticipate directional changes in the path of travel dictated by the guiding contour.

Another object is to provide an improved control system for a copying machine that is accurate throughout an extremely wide range of feeding rates.

Another object is to provide an anticipating control for a copying machine that is operative to eliminate overtravel when traversing a directional change in the path of travel.

Another object is to provide an improved line tracker control system that is simultaneously responsive to two spaced apart edge zones of a guiding contour in such a manner as to anticipate directional changes in the path of travel.

Another object is to provide an improved line tracker control system that is operative to compensate for the time lag between the input signal to move and the resulting motivation for movement during the interval in which a corner in the path of travel is traversed.

Another object is to provide an improved sensing device for a line tracker control system that is operative to maintain its central axis a fixed distance from a guiding contour and is simultaneously responsive to a point on the contour more remote therefrom than the square root of two multiplied by the fixed normal distance.

Another object is to provide an improved sensing device for a copying machine that is operative to form a principal copy signal and a separate anticipating signal adapted to modify the copy signal or the effect thereof during the same cycle of operation.

Another object is to provide a directionally controlled blanking device disposed to cooperate with a sensing device for selectively controlling the formation of an anticipating control signal.

Another object is to provide an improved line tracker I control system that is selectively reversible in operation.

A further object is to provide improved magnetic locking means for the relatively rotatable members of a signal forming sensing device.

A still further object is to provide an electrical steering arrangement for a signal modifying blanking device.

According to this invention, a milling machine of the vertical spindle type is provided with an improved form of direction anticipating line tracker control system that is operative to effect continuous feeding movement of the work table relative to the tool spindle along a path of travel corresponding in configuration to the contour of a guiding template or pattern throughout an angle of 360. Thus, a contour may be generated in a workpiece supported on the table that corresponds to the contour of a pattern employed to guide feeding movement of the table relative'to a cutting tool carried by the relatively fixed tool spindle. Although the workpiece is moved at a substantially uniform feeding rate relative to the cutting tool, the line tracker control is arranged to anticipate directional changes in the path of travel in order to prevent overtravel as the direction of workpiece movement is changed to conform to the new direction of travel dictated by the pattern.

Essentially, the line tracker control comprises a photoelectronic motor regulating system in combination with a signal forming scanning device mounted in fixedly spaced relationship with respect to the axis of the tool spindle. The scanning device is disposed to provide a copy signal light beam and an anticipating signal light beam arranged to be continuously movable in a manner to actuate the photoelectronic regulating system according to the requirements of a particular guiding contour. To selectively activate the photoelectronic regulating system, the moving light beams of the scanning device are intercepted at recurring intervals by a guiding line of trace having a differential effect on light. A guiding contour delineating a line of trace may be established by an opaque pattern having an edge zone, a translucent line etched on an opaque template or any other suitable means employing a light differentiating line of trace.

The copy signal light beam provided by the scanning device is intercepted at regularly recurring intervals by a relatively straight portion of the line of trace to afford a continuous series of light pulses of controlled duration for effecting continuous feeding movement of the workpiece along a correspondingly straight path of travel. Whenever a corner is to be traversed however, the anticipating signal light beam and scanning device cooperate with that edge of the pattern delineating a directional change in the line of trace to afford a series of light pulses of gradually changing duration that are respectively operative to modify the motivation for effecting movement of the pattern and workpiece. The modified light pulses are operative to activate the photoelectronic motor regulating system for providing a controlled feed rate of the workpiece to prevent overtravel whenever the directional path of workpiece movement is subsequently changed to conform to the new direction of trace. After the corner has been traversed, the photoelectronic regulating system is again activated only by the continuous succession of light pulses resulting from the interception of the directionally changed guiding line of trace with the copy signal light beam from the scanning device. The recurring light pulses blend together to provide a continuous, pulsating light beam copy signal for effecting continuous movement of the workpiece at a substantially uniform feed rate.

In a principal modified form of the invention, there is provided a sensing device having an inverted function in which the dark or no-light portion of each cycle provides the signal to effect movement. Due to the operation of the modified sensing device, the duration of each successive no-light signal is selectively changed to anticipate a directional change in the path or" travel. The changed no-light signals, in turn, activate an inverted form of photoelectronic motor regulating system to provide a controlled feed rate for preventing overtravel as the direction of workpiece movement is changed to conform to the new direction of trace.

Power for effecting feeding movement of a workpiece relative to a cutter carried by the tool spindle, as well as a coordinate movement of a guiding pattern relative to the scanning device, is derived from a pair of reversible feed motors that are selectively responsive to the photoelectronic regulating system. The feed motors are indivdiually operative to effect movement of the work table and a transparent pattern support coupled thereto along two mutually perpendicular lines of travel. Selective coordinate energization of the feed motors at predeterminately proportioned feed rates, according to the dictates of the photoelectronic regulating system, is operative therefore to effect coordinate movement of the pattern and workpiece along any angular direction of travel corresponding to the directional changes in the line of trace represented by the contour of the guiding pattern.

Although the actuating and control apparatus comprising the invention is represented herein as being embodied in a vertical spindle milling machine of the knee and column type, it is to be understood that the particular embodiments shown are intended to be illustrative only and that various other machine tools may utilize the features in various forms within the range of equivalents defined in the subjoined claims. Likewise, although the line tracker control apparatus disclosed herein is represented as being selectively activated by a light differentiating line of trace, light reflective activating means may be employed with equally good results. In a similar manner, recurrently intercepted light beam signals are the preferred form of activating medium, although magnetic force or pulsating air as well as other forms of radiated energy are also contemplated as being suitable actuating media within the scope of this invention.

The foregoing and other objects of this invention which will become more fully apparent from the following detailed description, may be achieved by the exemplifying apparatus shown in and described in connection with the accompanying drawings in which:

Figure l is a perspective view of a milling machine of the vertical spindle, knee and column type incorporating a direction anticipating line tracker control system constituting a preferred embodiment of the present invention;

Fig. 2 is a plan view of the machine;

Fig. 3 is a schematic view in horizontal section through the shutter head constituting the sensing device;

Fig. 3a is a schematic plan view of the shutter head;

Fig. 4 is a view partly in transverse and partly in longitudinal vertical section through the control box and taken generally along the lines 4-4 in Fig. 1;

Fig. 5 is an enlarged plan view of the shutter head;

Fig. 6 is an enlarged view in vertical section of the shutter head;

Fig. 7 is an enlarged fragmentary view, partly diagrammatic and partly in perspective, showing a portion of the control mechanism;

Fig. 8 is a schematic diagram showing the electrical control circuit and the associated controlling mechanism;

Fig. 9 is a diagrammatic view of the shutter head and illustrating the timing relationship with the electrical control circuit;

Figs. 10 to 16 inclusive are diagrammatic views illustrating several operating conditions of the direction anticipating control system;

Figs. 17 to 19c inclusive are diagrammatic views representing the lateral correcting effect of the control system;

Figs. 20 to 23b inclusive are additional diagrammatic views illustrating the operating conditions occurring as a directional change in the path of travel is traversed;

Fig. 24 is a fragmentary view in vertical section through the actuating control mechanism and showing a modified form of blanking device;

Fig. 25 is a plan view of the modified form of blanking device shown in Fig. 24;

Fig. 26 is a fragmentary perspective view showing a modified form of a signal forming sensing device;

Fig. 27 is a fragmentary schematic circuit diagram showing a modified form of motor control;

Fig. 28 is a diagrammatic plan view of a modified form of signal forming shutter;

Fig. 29 is a diagrammatic plan view of another modified form of shutter provided with a single aperture arranged to form both copy signals and anticipating signals;

Fig. 30 is a fragmentary, partly diagrammatic view showing a modification of the invention disposed to be utilized in combination with the shutters shown in Figs. 28 and 29;

Figs. 31 and 32 are diagrammatic plan views showing the timing relationship between the modified shutter, Fig. 29, and the electrical control circuit;

Figs. 33 to 36 inclusive are diagrammatic views representing one cycle of operation of the modified shutter shown in Fig. 29;

Figs. 37 to 39c inclusive are diagrammatic views representing the lateral correcting effect of the modified control system shown in Fig. 30; and,

Figs. 40 to 42c inclusive are diagrammatic views representing the anticipating effect of the modified control system shown in Fig. 30.

The particular line tracker controlled machine tool r shown generally in the accompanying drawings as exemplifying' a preferred embodiment of the present invention is a milling machine of the vertical spindle, knee and column type that is arranged to include a directional anticipator as an integral part of the operating and control system. It is to be understood, however, that apparatus comprising the anticipating line tracker control may -be constructed in the form of an attachment that may be applied with equal advantage to other types of machine tools. In a similar manner, the invention may be utilized effectively in combination with a wide variety of other classes of machines that require directionally controlled advancement of a movable element along a path of travel corresponding to the representation of a contour of predetermined configuration.

Referring more specifically to the drawings and particularly to Figs. 1 and 2 thereof, the line tracker controlled milling machine there shown comprises essentially a vertically upstanding column 43 that carries the usual work supporting elements including a vertically adjustable knee 44, a transversely movable saddle 45 and a longitudinally movable table 46. For effecting selective vertical adjustment of the knee 44 along the front face of the column 43, there is provided toward the front central portion of the knee a handcrank 47 that is operative in well known manner to actuate a screw and nut elevating mechanism (not shown). In a similar manner, there are provided handwheels 48 and 49 respectively operable to effect transverse adjustment of the saddle 45 along the upper surface of the-knee 44 and longitudinal movement of the work supporting table 46 along the upper guiding surface of the saddle 45.

Y A vertical tool spindle 50 cooperatively disposed above the work table 46 is ro-tatably journalled in a spindle supporting head 51 that is slidably mounted for selective vertical adjustment toward the front upper portion of the column 43. Power for rotating the tool spindle 50 at a selected speed'is derived from a motor (not shown) contained Within the base of the column 43. Vertical adjustment of the tool spindle 50 relative to the cooperatively disposed work supporting table 46 may be accomplished by means of a handwheel 52 rotatably carried toward the front upper portion of the machine.

Power for effecting feeding movement of the work table 46 along either of two mutually perpendicular lines of travel relative to the tool spindle 50 is derived from one or the other of two reversible feed motors 53 and 54 carried at the left side of the machine. As shown in Figs. 1 and 2, the feed motor 53 is secured to the knee 44 and is connected through a worm and wormwheel 55 to rotate a shaft 56 journalled in the knee. From the shaft 56, power is transmitted through bevel gears 57 to actuate a feed screw 58 journalled in the knee 44 and that is disposed to engage a feed nut (not shown) secured to the underside of the saddle 45. Selective energization of the saddle feed motor 53 is operative to effect feeding movement of the saddle and table toward or away from the front face of the column 43. The feed motor 54 is secured to the leftward end of the table 46 and is connected through a worm and wormwheel 63 to actuate a .feed screw 64 journalled in the table and that is arranged in well known manner to engage a feed nut (not shown) secured to the upper surface of the saddle 45. Thus, selective energization of the table feed motor 54'is operative to rotate the feed screw 64 for effecting longitudinal movement of the table 46 in either a right or left hand direction of travel relative to the saddle 45.

To facilitate the description, it will be assumed that the machine is so positioned relative to the four major points of the compass that the saddle feed screw 58 is operative to effect feeding movementof the work table 46 in a north or south direction and the table feed screw 64 is operative to effect movement of the table in an east or west direction. Selective energization of one or the other of the reversible feed motors 53 and 54 will thus operate to etfect feeding movement of the work table 46 in a north, south, east or west direction of travel. Likewise, simultaneous energization of both of the feed motors 53 and 54 at predeterminately proportioned feed rates will effect a resultant feeding movement of the work table in any selected direction of travel intermediate the four cardinal points of the compass. If the table feed motor 54 is energized to effect westward table movement, for example, and the saddle feed motor 53 is simultaneously energized to effect northward movement, the resultant feeding movement of the table will be in a northwest direction of travel.

In order that the representation of a guiding contour delineating a line of trace may be retained in laterally spaced relationship to a workpiece carried by the work table 46, a horizontally disposed transparent pattern support member 65 is secured by means of a bracket 66 to the leftward forward edge of the table 46. It will be readily apparent that selective energization of the feed motors 53 and 54 will produce a coordinate feeding movement of the pattern support 65 and the work table 46 along identical paths of travel. 7

As the work table 46 is caused to be moved relative to the tool spindle 50, the pattern support 65 will likewise be moved relative to a scanning device 67 positioned therebelow in fixedly spaced relationship to the axis of the tool spindle 50. The scanning device 67 is positioned directly below a relatively intense beam of light that is directed coaxially downward from the inner end of a horizontal arm member 68 that is carried in parallel spaced relationship above the transparent pattern support 65. When the machine is in operation, light from the forward end of the arm 68 is directed downwardly toward the scanning device 67 in a manner to be partially intercepted by the light differentiating edge of a pattern interposed therebetween and that is supported on the selectively movable pattern support 65. The scanning device 67 constitutes a sensing mechanism of a direction anticipating line tracker control system and is sensitive to a line of trace formed by the representation of a contour carried by the pattern support for selectively energizing the feed motors 53 and 54. As one alternative method of providing a line of trace, the representation of a contour may be scribed on an opaquely covered transparent plate that can be secured directly to the machine table 46 in place of the removable pattern support 65. The feed motors are, in turn, operative to effect a coordinate feeding movement of the pattern support 65 and work table 46 along a path of travel corresponding in configuration to the guiding contour, thereby effecting a uniform advancement of the line of trace relative to the scanning device.

As shown in Figs. 2, 4 and 7, the scanning device 67 comprises a rotatable shutter head 69 that is affixed to a tubular motor shaft 72 extending upwardly from a housing 71 secured to the front face of the knee 44. The rotatable shutter head 69 is driven at synchronous speed, for example, 3690 R. P. M. by the hollow shaft 72 of a motor 73 mounted within the housing 71. As shown in Figs. 2 and 7, the shutter head 69 is provided in its upper surface with two light passing openings 74 and '75 respectively arranged to pass light downwardly through the hollow motor shaft 72 in the form of two spaced light beams. The larger semi-circular or D-shaped opening 4 is positioned eccentrically with respect to the rotational axis of the hollow motor shaft 72 and will henceforth be known as the copy aperture. Inasmuch as the shutter head 69 is normally rotated continuously in a counterclockwise direction, the eccentrically positioned D-shaped copy aperture 74 is disposed to produce a continuously moving copy signal light beam. The smaller opening 75 is spaced radially outward from the circular portion of the D-shaped copy aperture 74 along a line approximately perpendicular to the straight or leading edge thereof and will hence forth be known as the anticipating hole. Since the copy aperture 74 and the anticipating hole 75 are continuously moved in spaced relationship as the shutter head is rotating, the anticipating hole 75 is disposed to produce a downwardly projecting anticipating signal light beam that continuously sweeps through an orbital path of travel in relatively fixed correspondence with the simultaneously moving copy signal light beam.

When the machine is not being used to perform a copying operation, the copy signal light beam and the anticipating signal light beam will be continuously formed by the rotating copy aperture 74 and anticipating hole 75 respectively, to provide uninterrupted light beams that are continuously moved along their respective orbital paths of travel. With this condition existing, that is with continuously moving uninterrupted light beams, the feed motors 53 and 54, will not be energized andthe work table 46 will remain stationary. Likewise, if an opaque pattern is placed on the pattern support 65 in a manner to completely overlie the scanning device 67 as Well as the orbitally moving copy aperture 74 and anticipating hole 75, the work table 46 will also be retained in unmoving relationship to the tool spindle 50. It will be readily apparent that whenever an opaque pattern completely overlies the orbitally moving copy aperture 74 and anticipating hole 75, the light directed downwardly toward the rotating shutter head 69 will be intercepted to prevent the formation of either a copy signal light beam or an anticipating signal light beam.

During an actual copying operation, however, a pattern, such as the opaque male pattern 78 shown in Figs. 2 and 7, is positioned on the transparent pattern support 65 in such a manner as to partially overlie the shutter head 69 as well as the orbital paths of movement of the copy aperture 74 and the anticipating hole 75, respectively. As a result, the copy aperture 74 and anticipating hole 75 are thereby moved into overlapping relationship with an edge 79 of the pattern 78 delineating a relatively straight line of trace once during each revolution or cycle of operation. Since the opaque pattern partially intercepts the light directed downwardly toward the rotating shutter head 69, light beam signals will be selectively formed by the copy aperture 74 only during a restricted portion of its orbital path of movement. Assuming that the pattern 78 is being moved Westward, as will hereinafter be more fully explained, formation of an anticipating signal light beam is further restricted to occur only at the instant the anticipating hole 75 overlaps an edge 89 of the pattern 78, Fig. 7, delineating a directional change in the line of travel to prevent overtravel as the corner is traversed.

With the shutter head 69 being continuously rotated in a counterclockwise direction, the copy aperture 7 is disposed to provide a continuous succession of light beam pulses or signals for effecting feeding movement of the pattern support 65 and the work table 46 along a path of travel corresponding to the contour of the male pattern 78. The regularly recurring copy signal light beam pulses, formed as the D-shaped copy aperture 74 overlaps the edge 75 of the pattern 78 so function to control directional movement that the edge of the pattern is constantly maintained a fixed normal distance from the rotational axis of the shutter head 69. Since the pattern 78 is being continuously advanced in response to the regularly recurring light pulses passed by the copy aperture 74, the copy aperture will be moved into overlapping relationship with successively new portions or edge zones of the pattern. Any slight angular changes in the advancing edge of the pattern will produce a change in the duration of the resulting copy signal light pulses which, in turn, operates to correct the direction of pattern movement in conformity with the changed path of travel dictated by the pattern. Generally a male pattern, such as the pattern 78, is used to guide feeding movement of the work table 46 relative to the tool spindle Si) in a manner that a female contour can be generated in a workpiece, for example, the workpiece 81 supported on the table.

The scanning device 67 is operative to anticipate a corner formed by a directional change in the line of travel due to the cooperative operation of a blanking device 82 that is operatively interposed between the horizontally movable pattern support and the vertically fixed shutter head 69, as shown in Figs. 2, 4 and 7. The blanking device 82 is so arranged that the anticipating hole in the shutter head 69 is operative to pass an anticipating signal light beam only when it sweeps into overlapping relationship with an edge of the pattern delineating a directional change in the path of movement. As will hereinafter be more fully explained, the resultant, recurring anticipating signal light beam pulses are disposed to so modify the eflfect of the copy signal light beam pulses formed during corresponding cycles as to effect a controlled deceleration of work table movement to prevent overtravel as a corner is traversed.

The blanking device 32 comprises essentially a rotatable gear or blanker 83 coaxially journalled above the shutter head 69 toward the inner end of a horizontal arm member 84 that is pivotally carried at its forward or outer end by the housing 71. As shown in Figs. 2 and 7, the blanker 83 is provided with a circular opening $5 that is smaller than the orbital path of movement followed by the anticipating hole 75 and larger than that followed by the copy aperture 74. The blanker 83 is further provided with a notched out opening 86 extending radially outward from the circular opening 85 in a manner to intercept the orbital path of movement followed by the anticipating hole 75. While the blanker 83 does not interfere with the formation of a copy signal light beam, it does prevent the formation of an anticipating signal light beam excepting during that period in which the anticipating hole 75 sweeps into overlapping relationship with the radially extending opening 86 formed therein.

In order that the blanking device 82 will be efiective to selectively control the formation of anticipating sig nal light beam pulses, the rotatable blanker 83 is arranged to be so oriented that the radially extending notch 86 formed therein normally is pointed in a direction opposite to the direction of pattern movement. With the pattern 78 being advanced in a Westward direction of movement, as shown in Fig. 2 for example, the radial opening 86 will be pointed in an eastward direction. With the blanker positioned as shown, it will also be noted that the radial opening or notch 86 is so formed as to be completely covered by the opaque portion of the pattern 78, with its edge spaced inwardly from the edge 79 of the pattern delineating the major path of movement. In order that the invention will operate to anticipate only slight directional changes in the path of travel, the edge of the blanking notch 86 is preferably arranged to be substantially coincidental with the pattern edge, and within the opaque zone. As the pattern 78 is gradually advanced in a west direction therefore, the radial opening 36 of the blanker 83 will gradually overlap the edge 86 of the pattern, marking a change in the path of movement. The anticipating hole 75 will then begin to simultaneously overlap the blanker notch 86 and the pattern edge 80 to pass a series of regularly recurring anticipating light beam pulses that are operative to effect a controlled deceleration of the westwardly moving pat-- tern 78, a shown in Fig. 7.

To maintain the blanker 83 properly oriented with respect to the guiding line of trace, the gear teeth formed thereon are operatively engaged by an idler gear 88 journallcd in the arm 34 and that, in turn, is disposed to be driven by a gear 89 secured to the upper end of a vertical shaft 90 journalled toward the outer end of the arm member 84. The shaft 90 is disposed to be rotatably positioned by a direct current selsyn or positioning motor 91 mounted Within the housing 71. The selsyn operates as a positioning motor only and is provided with a rotor that rotates to a relatively fixed angular position with respect to the stator in accordance with the relative magnitude and polarity of two separate direct current voltages. Energy for activating the D. C. selsyn 91 is de rived from the main supply conductors that are operatively connected to transmit direct current to the armature terminals of the reversible feed motors 53 and 54.

As shown in Fig. 7, two of the selsyn field windings 92 and 93 are connected in series to a pair of conductors 94 and 95 leading to the armature terminals of the table feed motor 54 that is disposed to effect east or west movement of the work table 46. The other two field windings 96' and 97 are connected in series through a pair ofconductors 98 and 99 leading to the armature terminals of the direct current saddle feed motor 53 that is disposed to effect north or south movement of the saddle 45. Rectified current of the required polarity for effecting selective proportionate energization of the feed motors 53 and 54m response to control signals from the scanning device 67 is supplied through a pair of sup ply conductors 104, 105 and conductors 106, 107, respectively. With the feed motors 53 and 54 energized to efiect directional feeding movement of the table 46, the selsyn field windings 92 and 93, as well as the windings 96 and 97 will be proportionately energized by the applied E. M. F. to the feed motors to angularly position the selsyn armature or rotor 108 which may be of the permanent magnet type. With the D. C. selsyn 91 positioned in accordance with the selected rotational speeds of the reversible feed motors, the gears 89 and 88 will be so positioned as to retain the radial opening 86 in the blanker 83 pointed in a direction opposite to the directional feeding movement of the pattern support 65 and the table 46.

By means of this arrangement, the selsyn 91 is responsive to the slightest changes in the rotational speed of the feed motors 53 and 54 for reorienting the blanker notch 86 in accordance with any change in the direction of feeding movement. In the event of an abrupt change in the direction of table movement, resulting from a sudden change in the speed or direction of feed motor rotation, however, the selsyn armature 108 tends to swing beyond the normal position required in responding to the suddenly changed applied E. M. F. to the feed mo-' tors. As a result, the armature 108 of the selsyn may oscillate (unless prevented) for a period of time before assuming the relatively steady state position required for the new direction of feeding movement. Such resulting oscillations of the blanker 83 might be sutficient to allow the notched opening 86 formed therein to-overlap an edge of the pattern delineating a straight path of movement with the result that the anticipating hole 75 would pass an anticipating light beam signal at the wrong time in the cycle. The improperly formed anticipating signal light beam thus would tend to allow the rotating copy aperture 74 to move over the line of trace and might result in a complete cessation of feeding movement.

To obviate this dificulty, as shown in Fig. 7, a direct current generator 110 is operatively arranged to be driven by the selsyn 91 in a manner to exert a braking or damping action whenever the selsyn armature 108 is suddenly moved to a new angular position. The output of the generator 110 is shunt connected through a resistor 111 and a rectifier 112 by means of a pair of conductors 113 and 114 to provide a resistance load that is proportionate to the speed and extent of reversed selsyn rotation. The generator 110 has no eflect on the initial movement of the .selsyn armature 108, which will swing beyond the required position in responding immediately to the changed applied E. M. F. to the feed motors 53 and 54. As the selsyn amature reverses to swing back to the required new directionally changed position, however, the generator 110 reverses polarity to pass current through the rectifier to its load resistor and thus by reaction exerts a braking action, that prevents a reversed oscillation beyond the position established by the direction of the field flux. The generator is operative to afford a more closely regulated directional control of the blanker 83 for maintaining the notch 86 formed therein in a position below the opaque portion of a pattern and spaced inwardly from the guiding edge thereof.

For providing convenient access to the shutter head 69, the arm member 84 disposed to support the blanking device 82 is arranged to be pivotally movable to a nonoperating position, as indicated by the solid lines in Fig. 2. To this end, the arm member is provided at its forward or outer end with a frusto-conical bearing member 115, Fig. 4, that is received in a complementary bearing recess formed in the upper part of the housing 71. The bearing member 115 is axially concentric with a bored hole that is disposed to rotatably support the selsyn driven shaft 90. To retain the blanking device 82 in its proper operating position, with the forward end of the arm 84 directly above the shutter head 69, as indicated by the broken lines in Fig. 2, there is provided a detent mechanism 116 operative in well known manner to engage a detent notch formed in the bearing member 115.

In order that the copy aperture 74 and anticipating hole 75 may pass sharply defined light beam signal pulses, a well collimated intense beam of light is directed downwardly toward the shutter head 69 from the inner end of the hollow arm member 68. At its forward or outer end, as shown in Fig. 4, the arm member 68 is provided with a frusto-conical bearing member 119 adapted to be pivotally received in a complementary bearing recess formed in the upper forward portion of the housing 71.

By means of this arrangement, as shown in Fig. 2, the arm 68 may be angularly displaced from its normal operating position in order to obtain convenient access to the shutter head 69 To retain the arm 68 in an operating position with its forward end directly above the shutter head 69, as indicated by the broken lines in Fig. 2, there is provided a detent mechanism 120 having a plunger 121 that is operative in well known manner to engage a cooperating detent hole formed in the bearing member 119. As shown in Fig. 4, the light beam directed downwardly from the inner end of the hollow arm 68 is derived from an arc lamp 122, constituting a preferred source of radiant energy, that is positioned below a vertically bored hole extending through the bearing member 119 at the forward end of the arm. From the are lamp 122, light is directed vertically upward through a condensing lens 123 toward an angularly positioned reflecting mirror 124 mounted in an adjustable carrier 125 within the hollow arm member 68. From the mirror 124, the light is reflected horizontally through the hollow central portion of the arm member 68 toward a semi-transparent angularly positioned mirror 127 secured in similar fashion to an adjustable carrier 128 at the inner end thereof. The semi-transparent mirror 127, in turn, serves to reflect the major portion of the light beam vertically downward'through the transparent pattern support 65 toward the shutter head 69 whenever the arm is in its operating position.

It is essential that the light beam directed downwardly toward the shutter head 69 fully encompass the orbital paths of movement described by the copy aperture 74 and the anticipating hole 75 to insure the proper formation of light beam signals for controlling machine operation. To the end that a machine operator may periodically inspect the exact position of the downwardly projected light beam relative to the shutter head 69, therefore, a transparent window 129 is provided in the upper surface of the arm 68 immediately above the semi-transparent mirror 127. In the event it is necessary to refocus the light beam, the carriers 125 and 128 respectively disposed to support the mirror 124 and the semi-transparent mirror 127 are arranged to be pivotally adjustable about mutually perpendicular vertical and horizontal axes. This adjust- 

